cmake_minimum_required(VERSION 3.8)
project(pnpsolve)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(image_transport REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(OpenCV REQUIRED)
find_package(rclcpp_components REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
add_library(pnpsolve_component SHARED src/pnpsolve.cpp)

rclcpp_components_register_node(
    pnpsolve_component
    PLUGIN "palomino::pnpsolve"
    EXECUTABLE pnpsolve
)

target_include_directories(pnpsolve_component PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_features(pnpsolve PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
ament_target_dependencies(
  pnpsolve_component 
  "rclcpp_components"
  rclcpp
  image_transport
  cv_bridge
  sensor_msgs
  OpenCV
)

install(TARGETS pnpsolve
  DESTINATION lib/${PROJECT_NAME})

ament_export_targets(export_pnpsolve_component)
install(TARGETS pnpsolve_component
        EXPORT export_pnpsolve_component
        ARCHIVE DESTINATION lib
        LIBRARY DESTINATION lib
        RUNTIME DESTINATION bin
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}
)

ament_package()
